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Support .idl files for ROS message/service/action
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‎.github/workflows/linux-x64-build-and-test.yml‎

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npm test
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npm run clean
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- name: Test with IDL ROS messages
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if: ${{ matrix.ros_distribution == 'rolling' }}
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run: |
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npm i
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npm test-idl
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npm run clean
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- name: Coveralls Parallel
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uses: coverallsapp/github-action@v2
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with:

‎package.json‎

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"postinstall": "npm run generate-messages",
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"docs": "cd docs && make",
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"test": "nyc node --expose-gc ./scripts/run_test.js && tsd",
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"test-idl": "nyc node --expose-gc ./scripts/run_test.js --idl",
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"lint": "eslint && node ./scripts/cpplint.js",
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"format": "clang-format -i -style=file ./src/*.cpp ./src/*.h && npx --yes prettier --write \"{lib,rosidl_gen,rostsd_gen,rosidl_parser,types,example,test,scripts,benchmark,rostsd_gen}/**/*.{js,md,ts}\" ./*.{js,md,ts}",
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"prepare": "husky",

‎rosidl_convertor/README.md‎

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# ROS2 IDL to Interface Converter
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This Python tool converts ROS2 `.idl` files to corresponding `.msg`, `.srv`, and `.action` files.
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## Features
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- **Complete IDL Parsing**: Parses ROS2 IDL syntax including modules, structs, sequences, and arrays
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- **Type Mapping**: Automatically maps IDL types to ROS2 types (e.g., `double` → `float64`, `sequence<T>` → `T[]`)
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- **Multi-Interface Support**: Handles messages, services, and actions in a single IDL file
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- **Namespace Support**: Properly handles namespaced types (e.g., `std_msgs::msg::Header` → `std_msgs/Header`)
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- **Command Line Interface**: Easy to use with command line arguments
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- **Verbose Output**: Optional detailed output showing parsed structures and generated files
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## Usage
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### Basic Usage
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```bash
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python3 idl_parser.py <idl_file>
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```
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### With Options
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```bash
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python3 idl_parser.py <idl_file> [options]
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```
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### Options
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- `-o, --output DIR`: Output directory name for generated files (default: `ros_interfaces`)
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- `-r, --root PATH`: Root path where the generated files will be located (default: current directory)
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- `-p, --package NAME`: Package name to use for generated files (overrides package name from IDL)
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- `-v, --verbose`: Enable verbose output showing parsed structures and file contents
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- `-h, --help`: Show help message
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### Advanced Examples
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#### Custom Output Directory
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```bash
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python3 idl_parser.py JointState.idl -o my_interfaces
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```
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#### Custom Root Path
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```bash
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python3 idl_parser.py SetCameraInfo.idl -r /path/to/workspace -o sensor_msgs
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# Generates files in: /path/to/workspace/sensor_msgs/srv/SetCameraInfo.srv
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```
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#### Custom Package Name
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```bash
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python3 idl_parser.py JointState.idl -p my_package_name
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# Overrides the package name from the IDL file
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```
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#### Combined Options
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```bash
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python3 idl_parser.py SetCameraInfo.idl -r ~/ros2_ws/src -o sensor_msgs -p sensor_msgs -v
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# Generates: ~/ros2_ws/src/sensor_msgs/srv/SetCameraInfo.srv with package name "sensor_msgs"
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```
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## Examples
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### 1. Convert a Message IDL
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Input file `JointState.idl`:
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```idl
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#include "std_msgs/msg/Header.idl"
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module sensor_msgs {
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module msg {
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struct JointState {
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std_msgs::msg::Header header;
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sequence<string> name;
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sequence<double> position;
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sequence<double> velocity;
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sequence<double> effort;
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};
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};
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};
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```
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Output `JointState.msg`:
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```
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# JointState.msg
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# Generated from IDL file
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std_msgs/Header header
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string[] name
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float64[] position
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float64[] velocity
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float64[] effort
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```
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### 2. Convert a Service IDL
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Input file `SetCameraInfo.idl`:
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```idl
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#include "sensor_msgs/msg/CameraInfo.idl"
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module sensor_msgs {
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module srv {
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struct SetCameraInfo_Request {
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sensor_msgs::msg::CameraInfo camera_info;
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};
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struct SetCameraInfo_Response {
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boolean success;
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string status_message;
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};
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};
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};
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```
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Output `SetCameraInfo.srv`:
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```
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# SetCameraInfo.srv
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# Generated from IDL file
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# Request
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sensor_msgs/CameraInfo camera_info
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---
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# Response
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bool success
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string status_message
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```
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### 3. Convert an Action IDL
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Input file `Fibonacci.idl`:
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```idl
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module example_interfaces {
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module action {
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struct FibonacciGoal {
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int32 order;
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};
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struct FibonacciResult {
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sequence<int32> sequence;
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};
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struct FibonacciFeedback {
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sequence<int32> partial_sequence;
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};
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};
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};
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```
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Generates separate message files for goal, result, and feedback components.
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## Type Mappings
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| IDL Type | ROS2 Type |
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| ---------------- | ---------- |
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| `boolean` | `bool` |
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| `octet` | `uint8` |
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| `int8` | `int8` |
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| `uint8` | `uint8` |
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| `int16` | `int16` |
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| `uint16` | `uint16` |
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| `int32` | `int32` |
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| `uint32` | `uint32` |
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| `int64` | `int64` |
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| `uint64` | `uint64` |
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| `float` | `float32` |
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| `double` | `float64` |
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| `string` | `string` |
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| `wstring` | `wstring` |
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| `sequence<T>` | `T[]` |
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| `T[N]` | `T[N]` |
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| `pkg::msg::Type` | `pkg/Type` |
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## Output Structure
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The tool creates the following directory structure:
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```
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<root>/<output>/
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├── msg/ # Generated .msg files
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├── srv/ # Generated .srv files
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└── action/ # Generated .action files
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```
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### ROS2 Workspace Integration
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For proper ROS2 workspace integration, you can use the parameters to match the expected structure:
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```bash
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# Generate files for a ROS2 package in a workspace
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python3 idl_parser.py MyMessage.idl \
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-r ~/ros2_ws/src \
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-o my_package_name \
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-p my_package_name
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# This creates:
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# ~/ros2_ws/src/my_package_name/msg/MyMessage.msg
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# ~/ros2_ws/src/my_package_name/srv/MyService.srv
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# ~/ros2_ws/src/my_package_name/action/MyAction.action
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```
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The generated files will be compatible with ROS2 build tools like `colcon build`.
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## Implementation Details
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### Classes
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- **`IdlParser`**: Parses IDL files and extracts interface definitions
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- **`RosInterfaceGenerator`**: Generates ROS2 interface files from parsed data
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- **`IdlField`**: Represents a field in an IDL structure
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- **`IdlStructure`**: Represents an IDL structure (message, service part, etc.)
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- **`IdlInterface`**: Represents a complete IDL interface definition
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### Key Features
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- **Robust Parsing**: Handles comments, nested modules, and complex type definitions
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- **Error Handling**: Graceful error handling with informative messages
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- **Extensible**: Easy to extend for additional IDL features or output formats
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## Testing
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The tool has been tested with:
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- ✅ Basic message types (JointState)
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- ✅ Service definitions (SetCameraInfo) - generates proper .srv files
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- ✅ Action definitions (Fibonacci) - generates proper .action files
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- ✅ Array and sequence types
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- ✅ Namespaced types
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- ✅ Command line interface
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- ✅ @verbatim comment handling
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- ✅ Request/Response combination for services
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- ✅ Goal/Result/Feedback combination for actions
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## Future Enhancements
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- [ ] Support for constants and default values
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- [ ] Support for nested structures
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- [ ] Support for enums and unions
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- [ ] Validation of generated files
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- [ ] Support for inheritance and composition
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## Requirements
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- Python 3.6+
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- No external dependencies (uses only standard library)
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This tool provides a robust solution for converting ROS2 IDL files to standard ROS2 interface formats, making it easier to work with interface definitions across different ROS2 tools and languages.

‎rosidl_convertor/idl_convertor.js‎

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// Copyright (c) 2025, The Robot Web Tools Contributors
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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'use strict';
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const path = require('path');
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const fse = require('fs-extra');
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const execFile = require('child_process').execFile;
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const pythonExecutable =
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require('../rosidl_parser/py_utils').getPythonExecutable('python3');
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async function convertIDLToROS2IDL(pkgName, idlFilePath, outputDir) {
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const packagePath = path.join(outputDir, pkgName);
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if (!fse.existsSync(packagePath)) {
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fse.mkdirSync(packagePath);
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}
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return new Promise((resolve, reject) => {
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const args = [idlFilePath, '-o', packagePath];
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const convertor = path.join(__dirname, 'idl_convertor.py');
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const [pythonExecutableFile, pythonExecutableArgs] = pythonExecutable;
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execFile(
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pythonExecutableFile,
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[convertor, ...args],
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(error, stdout, stderr) => {
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if (error) {
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return reject(error);
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}
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if (stderr) {
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console.error(stderr);
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}
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resolve();
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}
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);
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});
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}
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module.exports = convertIDLToROS2IDL;

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